############################################################################
#
#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in
#    the documentation and/or other materials provided with the
#    distribution.
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#    used to endorse or promote products derived from this software
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")

string(TOUPPER "${OS}" OS_UPPER)
add_definitions(
		-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
		-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
		-DUAVCAN_NO_ASSERTIONS
		-DUAVCAN_PLATFORM=stm32
		-DUAVCAN_STM32_${OS_UPPER}=1
		-DUAVCAN_STM32_NUM_IFACES=${config_uavcan_num_ifaces}
		-DUAVCAN_STM32_TIMER_NUMBER=5
		)

add_subdirectory(libuavcan EXCLUDE_FROM_ALL)
add_dependencies(uavcan platforms__nuttx)

include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
include_directories(libuavcan/libuavcan/include)
include_directories(libuavcan/libuavcan/include/dsdlc_generated)
include_directories(libuavcan/libuavcan_drivers/posix/include)
include_directories(libuavcan/libuavcan_drivers/stm32/driver/include)

px4_add_module(
	MODULE modules__uavcan
	MAIN uavcan
	STACK_MAIN 3200
	STACK_MAX 1500
	COMPILE_FLAGS
	SRCS
		# Main
		uavcan_main.cpp
		uavcan_servers.cpp
		uavcan_params.c

		# Actuators
		actuators/esc.cpp
		actuators/hardpoint.cpp

		# Sensors
		sensors/sensor_bridge.cpp
		sensors/gnss.cpp
		sensors/mag.cpp
		sensors/baro.cpp

	DEPENDS
		platforms__common
		uavcan
	)

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